/*
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#ifndef DWB_PLUGINS_KINEMATIC_PARAMETERS_H
#define DWB_PLUGINS_KINEMATIC_PARAMETERS_H

#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>
#include <dwb_plugins/KinematicParamsConfig.h>
#include <memory>

namespace dwb_plugins
{

/**
 * @class KinematicParameters
 * @brief A dynamically reconfigurable class containing one representation of the robot's kinematics
 */
class KinematicParameters
{
public:
  KinematicParameters();
  void initialize(const ros::NodeHandle& nh);

  inline double getMinX() { return min_vel_x_; }
  inline double getMaxX() { return max_vel_x_; }
  inline double getAccX() { return acc_lim_x_; }
  inline double getDecelX() { return decel_lim_x_; }

  inline double getMinY() { return min_vel_y_; }
  inline double getMaxY() { return max_vel_y_; }
  inline double getAccY() { return acc_lim_y_; }
  inline double getDecelY() { return decel_lim_y_; }

  inline double getMinSpeedXY() { return min_speed_xy_; }

  inline double getMinTheta() { return -max_vel_theta_; }
  inline double getMaxTheta() { return max_vel_theta_; }
  inline double getAccTheta() { return acc_lim_theta_; }
  inline double getDecelTheta() { return decel_lim_theta_; }
  inline double getMinSpeedTheta() { return min_speed_theta_; }

  /**
   * @brief Check to see whether the combined x/y/theta velocities are valid
   * @return True if the magnitude hypot(x,y) and theta are within the robot's absolute limits
   *
   * This is based on three parameters: min_speed_xy, max_speed_xy and min_speed_theta.
   * The speed is valid if
   *  1) The combined magnitude hypot(x,y) is less than max_speed_xy (or max_speed_xy is negative)
   *  AND
   *  2) min_speed_xy is negative or min_speed_theta is negative or
   *     hypot(x,y) is greater than min_speed_xy or fabs(theta) is greater than min_speed_theta.
   *
   * In English, it makes sure the diagonal motion is not too fast,
   * and that the velocity is moving in some meaningful direction.
   *
   * In Latin, quod si motus sit signum quaerit et movere ieiunium et significantissime comprehendite.
   */
  bool isValidSpeed(double x, double y, double theta);

  using Ptr = std::shared_ptr<KinematicParameters>;
protected:
  // For parameter descriptions, see cfg/KinematicParams.cfg
  double min_vel_x_, min_vel_y_;
  double max_vel_x_, max_vel_y_, max_vel_theta_;

  double min_speed_xy_, max_speed_xy_;
  double min_speed_theta_;

  double acc_lim_x_, acc_lim_y_, acc_lim_theta_;
  double decel_lim_x_, decel_lim_y_, decel_lim_theta_;

  // Cached square values of min_speed_xy and max_speed_xy
  double min_speed_xy_sq_, max_speed_xy_sq_;

  void reconfigureCB(KinematicParamsConfig &config, uint32_t level);
  std::shared_ptr<dynamic_reconfigure::Server<KinematicParamsConfig> > dsrv_;
};

}  // namespace dwb_plugins

#endif  // DWB_PLUGINS_KINEMATIC_PARAMETERS_H
